CN110044379A - A kind of traverse measurement system calibrating method - Google Patents
A kind of traverse measurement system calibrating method Download PDFInfo
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- CN110044379A CN110044379A CN201910317070.2A CN201910317070A CN110044379A CN 110044379 A CN110044379 A CN 110044379A CN 201910317070 A CN201910317070 A CN 201910317070A CN 110044379 A CN110044379 A CN 110044379A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention proposes a kind of traverse measurement system calibrating methods, by the way that single target is arranged in calibration place, change the position of traverse measurement system, single target is scanned and is recorded by scanner and Inertial Measurement Unit respectively, and construct objective function, scanner coordinate system transformation is solved to the Eulerian angles between Inertial Measurement Unit coordinate system with genetic algorithm, passes through translation vector and target three-dimensional coordinate of the linear solution scanner center under Inertial Measurement Unit coordinate system.The present invention carries out traverse measurement system calibrating using single target, and place space needed for measuring is small, can be demarcated indoors, and testing result is not interfered vulnerable to natural environment；Single target can be arranged arbitrarily, not need in addition to measure its centre coordinate, workload and calculation amount are smaller；Data handling procedure does not depend on manual intervention, calculates translation parameters using least square method, result credibility is high.
Description
Technical field
The present invention relates to geography information equipment calibration technique field more particularly to a kind of traverse measurement system calibrating methods.
Background technique
Traverse measurement system is a kind of automation for having positioning, ranging, angle measurement and camera function concurrently, digitized system,
The equipment such as GNSS, Inertial Measurement Unit (IMU), laser scanner, digital camera are integrated with, to realize the space to target area
The Quick Acquisition of the much informations such as data, attribute data and live-action image.During the work time, GNSS receiver and IMU are provided
The position of system and posture information, the equipment such as laser scanner, digital camera are acquired external three-dimensional geographic information, pass through
Point cloud data and image data, are first transformed under inertial navigation coordinate system by post-processing, further according to system position and posture information by this
A little data are transformed under local horizontal coordinates.And only estimate that laser scanner, digital camera and IMU's is inclined by mechanical erection
Away from (translation parameters) and eccentric angle (rotation parameter), there are deviations for inevitable and true value, so needing correlation method accurate to its
Calibration, just can guarantee the quality of system end result.
Currently, demarcating for the position of laser scanner and IMU, posture relationship, most of is to utilize the cloth in calibration field
If known control point or characteristic point, laser scanner and IMU are calculated using certain mathematical method by system location model
Coordinate transformation relation.This method needs that a large amount of manpower, financial resources is spent to establish calibration field, and calibration process flexibility is poor, and
Measurement error early period of control point coordinates also results in the error of calibration result.In addition, also there is the mark based on plane characteristic constraint
Determine method, this method depends on the flatness of measured surface, and very sensitive to flatness error, calibration result error compared with
Greatly；There are also the scaling method based on point cloud matching, this method round-trip repeatedly measurement in calibration field by traverse measurement system passes through
The error of the resulting estimate conversion parameter of more point cloud registerings, manually or automatically algorithm adjusting make invocation point cloud obtain best
Match, but since point cloud registering technology is still immature, will appear identification mistake during Auto-matching, require manual intervention,
And since scanner scanning density is limited, point cloud resolving power also will limit the precision of registration result.
Summary of the invention
In view of this, the invention proposes one kind, to verification, site requirements is low, the lesser traverse measurement system of calibrated error
Scaling method.
The technical scheme of the present invention is realized as follows: a kind of traverse measurement system calibrating method, comprising the following steps:
A. single target is fixed in calibration place, n survey station point is uniformly chosen around single target, it is each to survey
The height of website position is different, survey station point digit n >=3；
B. traverse measurement system is scanned measurement in each survey station point respectively, when converting survey station point, changes movement
The posture of measuring system keeps the posture of the traverse measurement system of each survey station point different；
When being C. scanned measurement to current survey station point i, the point cloud data of scanner record acquisition；Inertial Measurement Unit
The coordinate time sequence and posture time series under local horizontal coordinates of the Inertial Measurement Unit obtained are recorded, wherein i
∈n；
D. the point cloud data obtained to scanner is handled, and obtains three-dimensional seat of the Target Center in scanner coordinate system
Mark, is denoted as:
E. the coordinate time sequence obtained to Inertial Measurement Unit is handled with posture time series, obtains inertia measurement
The three-dimensional coordinate and three attitude angles under local horizontal coordinates of unit, the three-dimensional coordinate, three attitude angles and attitude angle
Spin matrix corresponding to local horizontal coordinates is converted from Inertial Measurement Unit coordinate system, is denoted as respectively:
θZi、θYi、θXiAnd Ri；
F. mathematical model is converted according to coordinate and lists observational equation, obtained scanner coordinate system using Genetic algorithm searching and become
Change to the Eulerian angles between Inertial Measurement Unit coordinate system；
G. according to scanner coordinate system transformation to Eulerian angles between Inertial Measurement Unit coordinate system, scanner center is solved used
Translation vector and target three-dimensional coordinate under property measuring unit coordinate system.
On the basis of above technical scheme, it is preferred that it is described to Inertial Measurement Unit obtain coordinate time sequence into
Row processing is the three-dimensional coordinate for obtaining Inertial Measurement Unit under local horizontal coordinates.
On the basis of above technical scheme, it is preferred that it is described to Inertial Measurement Unit obtain posture time series into
Row processing is three attitude angle θ for obtaining Inertial Measurement Unit under local horizontal coordinatesZi、θYiAnd θXi；To posture time sequence
Column carry out elimination of rough difference, be averaged Inertial Measurement Unit coordinate system converts spin matrix corresponding to local horizontal coordinates
RiAre as follows:
It is further preferred that described list observational equation according to coordinate conversion mathematical model, it is construction objective function:
Wherein:
RLMFor 3n rank square matrix；
C is the coefficient matrix of observational equation；CTIt is the transposed matrix of coefficient matrix C；(CT·C)-1It is (CTC inverse square)
Battle array；
α, β, γ are that scanner coordinate system transformation to Inertial Measurement Unit is sat
Mark the Eulerian angles of system.
Still more preferably, described to obtain scanner coordinate system transformation to Inertial Measurement Unit using Genetic algorithm searching
Eulerian angles between coordinate system, be [0,2 π) in range to α, beta, gamma scans for, and acquires α0,β0,γ0, so that f1(α0,β0,
γ0) minimum value, α are obtained in the total space0,β0,γ0Rotation parameter as in calibration result.
Still further preferably, described according to scanner coordinate system to Eulerian angles between Inertial Measurement Unit coordinate system, it solves
Translation vector and target three-dimensional coordinate of the scanner center under Inertial Measurement Unit coordinate system are to calculate to put down using following formula
Shifting parameter:
M=C+·(RLM0·x+b)；
Wherein, RLM0It is the α that will be acquired0,β0,γ0Substitute into RLMIn acquire；C+ is that the Moore-Penrose of parameter matrix C is wide
Adopted inverse matrix；
It is three-dimensional coordinate of the single target under local horizontal coordinates；
For coordinate of the scanner center in Inertial Measurement Unit coordinate system；
It converts for scanner coordinate system to the translation parameters of Inertial Measurement Unit coordinate system.
On the basis of above technical scheme, it is preferred that uniformly chosen around the single target survey station point digit n >=
3。
On the basis of above technical scheme, it is preferred that the traverse measurement system is in each survey station point to single target
Number of scan points >=10.
A kind of traverse measurement system calibrating method provided by the invention has the advantages that compared with the existing technology
(1) present invention carries out traverse measurement system calibrating using single target, and place space needed for measuring is small, can be indoors
It is demarcated, testing result is not interfered vulnerable to natural environment；
(2) single target can be arranged arbitrarily, not need in addition to measure its centre coordinate, workload and calculation amount are smaller；
(3) present invention constructs reasonable objective function, seeks calibration rotation parameter, data handling procedure by genetic algorithm
Manual intervention is not depended on, translation parameters is calculated using least square method, result credibility is high.
Specific embodiment
Below in conjunction with embodiment of the present invention, the technical solution in embodiment of the present invention is carried out clearly and completely
Description, it is clear that described embodiment is only some embodiments of the invention, rather than whole embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all
Other embodiments shall fall within the protection scope of the present invention.
The present invention provides a kind of traverse measurement system calibrating methods, comprising the following steps:
A. single target is fixed in calibration place, uniformly chooses n survey station point around single target, n >=
3, the height of each survey station point is different, and traverse measurement system is in each survey station point to number of scan points >=10 of single target
It is a；
B. traverse measurement system is scanned measurement in each survey station point respectively, when converting survey station point, changes movement
The posture of measuring system keeps the posture of the traverse measurement system of each survey station point different；
When being C. scanned measurement to current survey station point i, the point cloud data of scanner record acquisition；Inertial Measurement Unit
The coordinate time sequence and posture time series under local horizontal coordinates of the Inertial Measurement Unit obtained are recorded, wherein i
∈n；
D. the point cloud data obtained to scanner is handled, and Fitting Analysis mode can be used and handle, and obtains Target Center
Three-dimensional coordinate in scanner coordinate system, is denoted as:
E. the coordinate time sequence obtained to Inertial Measurement Unit is handled with posture time series: to inertia measurement list
It is the three-dimensional seat by obtaining Inertial Measurement Unit under local horizontal coordinates that the coordinate time sequence that member obtains, which carries out processing,
Mark；By obtaining three attitude angle θs of the Inertial Measurement Unit under local horizontal coordinatesZi、θYiAnd θXi；To posture time sequence
Column carry out elimination of rough difference, are averaged, obtain Inertial Measurement Unit coordinate system and convert rotation corresponding to local horizontal coordinates
Matrix Ri；Above-mentioned three-dimensional coordinate, three attitude angles and attitude angle are converted from Inertial Measurement Unit coordinate system to local horizontal coordinate
It is corresponding spin matrix, is denoted as respectively:
θZi、θYi、θXiAnd Ri；Wherein:
F. mathematical model is converted according to coordinate and lists observational equation, obtained scanner coordinate system using Genetic algorithm searching and become
Change to the Eulerian angles between Inertial Measurement Unit coordinate system；Detailed process are as follows:
Construct objective function:
Wherein:
RLMFor 3n rank square matrix；
C is the coefficient matrix of observational equation；CTIt is the transposed matrix of coefficient matrix C；(CT·C)-1It is (CTC inverse square)
Battle array；
α, β, γ are Eulerian angles approximation of the scanner coordinate system transformation to Inertial Measurement Unit coordinate system；
Scanner coordinate system is solved to the Eulerian angles between Inertial Measurement Unit coordinate system, be [0,2 π) range is interior to α, β,
γ is scanned for, and acquires α0,β0,γ0, so that f1(α0,β0,γ0) minimum value, α are obtained in the total space0,β0,γ0As demarcate
As a result the rotation parameter in；
G. according to scanner coordinate system transformation to Eulerian angles between Inertial Measurement Unit coordinate system, scanner center is solved used
Translation vector and target three-dimensional coordinate under property measuring unit coordinate system；
Specifically, calculating translation parameters using following formula:
M=C+ (RLM0x+b)；
Wherein, RLM0It is the α for acquiring previous step0,β0,γ0Substitute into RLMIn acquire；C+It is the Moore- of parameter matrix C
Penrose generalized inverse matrix；Matrix x and b is identical as the meaning of parameters in the objective function of construction；
It is three-dimensional coordinate of the single target under local horizontal coordinates；
For coordinate of the scanner center in Inertial Measurement Unit coordinate system；
It converts for scanner coordinate system to the translation parameters of Inertial Measurement Unit coordinate system.
In the present invention, the point cloud data that scanner obtains is handled using Fitting Analysis mode, i.e., to the point of regular surfaces
Cloud data are fitted, and are customary technical means in the art.
In the present invention, coordinate system where local horizontal coordinates, that is, survey station point, survey station point is fixed relative to ground
Motionless, Inertial Measurement Unit measurement is Inertial Measurement Unit position in this coordinate system and posture.
Inertial Measurement Unit coordinate system is fixed relative to Inertial Measurement Unit；Scanner coordinate system is in scanner
The heart is origin, which is also fixed, scanner coordinate system and Inertial Measurement Unit relative to Inertial Measurement Unit
The target component that the transformational relation of coordinate system, the as present invention need to demarcate.
The present invention solves scanner coordinate system transformation to the Eulerian angles between Inertial Measurement Unit coordinate system, using heredity
Algorithm is the computation model for the natural selection and genetic mechanisms for simulating Darwinian evolutionism, by setting constraint condition
And objective function, feasible solution is found out within the scope of constraint condition.In the present invention, objective function f1The constraint condition of (α, β, γ)
For [0,2 π), i.e., α, the optimal solution α of beta, gamma are found in constraint condition0,β0,γ0, so that f1(α0,β0,γ0) in the total space
Obtain minimum value, α0,β0,γ0Rotation parameter as in calibration result.The solution procedure can be realized with tools such as MATLAB.
The α that will be acquired0,β0,γ0Iteration solves scanner center in inertia measurement into objective function, by least square method
Translation vector and target three-dimensional coordinate under unit coordinate system, that is, complete scanner coordinate system and Inertial Measurement Unit coordinate system
Transformational relation calibration.
The foregoing is merely better embodiments of the invention, are not intended to limit the invention, all of the invention
Within spirit and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of traverse measurement system calibrating method, it is characterised in that: the following steps are included:
A. single target is fixed in calibration place, n survey station point, each survey station point is uniformly chosen around single target
The height of position is different；
B. traverse measurement system is scanned measurement in each survey station point respectively, when converting survey station point, changes traverse measurement
The posture of system keeps the posture of the traverse measurement system of each survey station point different；
When being C. scanned measurement to current survey station point i, the point cloud data of scanner record acquisition；Inertial Measurement Unit record
The coordinate time sequence and posture time series under local horizontal coordinates of the Inertial Measurement Unit of acquisition, wherein i ∈ n；
D. the point cloud data obtained to scanner is handled, and obtains three-dimensional coordinate of the Target Center in scanner coordinate system,
It is denoted as:
E. the coordinate time sequence obtained to Inertial Measurement Unit is handled with posture time series, obtains Inertial Measurement Unit
The three-dimensional coordinate and three attitude angles under local horizontal coordinates, the three-dimensional coordinate, three attitude angles and attitude angle are from used
Property measuring unit coordinate system converts spin matrix corresponding to local horizontal coordinates, is denoted as respectively:
θZi、θYi、θXiAnd Ri；
F. mathematical model is converted according to coordinate and lists observational equation, obtained scanner coordinate system transformation using Genetic algorithm searching and arrive
Eulerian angles between Inertial Measurement Unit coordinate system；
G. it according to scanner coordinate system transformation to Eulerian angles between Inertial Measurement Unit coordinate system, solves scanner center and is surveyed in inertia
Measure the translation vector and target three-dimensional coordinate under unit coordinate system.
2. a kind of traverse measurement system calibrating method as described in claim 1, it is characterised in that: described to Inertial Measurement Unit
It is the three-dimensional coordinate for obtaining Inertial Measurement Unit under local horizontal coordinates that the coordinate time sequence of acquisition, which carries out processing,.
3. a kind of traverse measurement system calibrating method as described in claim 1, it is characterised in that: described to Inertial Measurement Unit
It is three attitude angle θ for obtaining Inertial Measurement Unit under local horizontal coordinates that the posture time series of acquisition, which carries out processing,Zi、
θYiAnd θXi；Elimination of rough difference is carried out to posture time series, is averaged to obtain Inertial Measurement Unit coordinate system and convert to local water
The corresponding spin matrix R of flat coordinate systemiAre as follows:
4. a kind of traverse measurement system calibrating method as claimed in claim 3, it is characterised in that: described to convert number according to coordinate
It learns model and lists observational equation, be construction objective function:
Wherein:
RLMFor 3n rank square matrix；
C is the coefficient matrix of observational equation；CTIt is the transposed matrix of coefficient matrix C；(CT·C)-1It is (CTC inverse matrix)；
α, β, γ are scanner coordinate system transformations to Inertial Measurement Unit coordinate system
Eulerian angles, R1…RnInertial Measurement Unit coordinate system where being each survey station point converts rotation corresponding to local horizontal coordinates
Torque battle array.
5. a kind of traverse measurement system calibrating method as claimed in claim 4, it is characterised in that: described to be searched using genetic algorithm
Rope obtains scanner coordinate system transformation to the Eulerian angles between Inertial Measurement Unit coordinate system, be [0,2 π) in range to α, beta, gamma
It scans for, acquires α0,β0,γ0, so that f1(α0,β0,γ0) minimum value, α are obtained in the total space0,β0,γ0As calibration knot
Rotation parameter in fruit.
6. a kind of traverse measurement system calibrating method as claimed in claim 5, it is characterised in that: described according to scanner coordinate
System transforms to Eulerian angles between Inertial Measurement Unit coordinate system, solves translation of the scanner center under Inertial Measurement Unit coordinate system
Vector sum target three-dimensional coordinate is to calculate translation parameters using following formula:
M=C+·(RLM0·x+b)；
Wherein, RLM0It is the α that will be acquired0,β0,γ0Substitute into RLMIn acquire；C+ is the Moore-Penrose generalized inverse of parameter matrix C
Matrix；
It is three-dimensional coordinate of the single target under local horizontal coordinates；
For coordinate of the scanner center in Inertial Measurement Unit coordinate system；
It converts for scanner coordinate system to the translation parameters of Inertial Measurement Unit coordinate system.
7. a kind of traverse measurement system calibrating method as described in claim 1, it is characterised in that: around the single target
Even selection survey station point digit n >=3.
8. a kind of traverse measurement system calibrating method as described in claim 1, it is characterised in that: the traverse measurement system exists
Number of scan points >=10 of each survey station point to single target.
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